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<a href="#pub-types">Public 类型</a> &#124;
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<a href="#pro-types">Protected 类型</a> &#124;
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<div class="title">pcl::registration::CorrespondenceRejectorSurfaceNormal类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="correspondence__rejection__surface__normal_8h_source.html">correspondence_rejection_surface_normal.h</a>&gt;</code></p>
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类 pcl::registration::CorrespondenceRejectorSurfaceNormal 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:aeaf1a76efd20fa1ce98f9640b67c5d4f"><td class="memItemLeft" align="right" valign="top"><a id="aeaf1a76efd20fa1ce98f9640b67c5d4f"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html">CorrespondenceRejectorSurfaceNormal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:aeaf1a76efd20fa1ce98f9640b67c5d4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a745eb9473ac4979cb81842f1524275c2"><td class="memItemLeft" align="right" valign="top"><a id="a745eb9473ac4979cb81842f1524275c2"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html">CorrespondenceRejectorSurfaceNormal</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a745eb9473ac4979cb81842f1524275c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a192578d5c6faa199b6137f7052ebe3bd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a364a36b29c665856a1819d7a42cf5154"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:adf5989a5e720d2223bef59460bfd6601"><td class="memItemLeft" align="right" valign="top"><a id="adf5989a5e720d2223bef59460bfd6601"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#adf5989a5e720d2223bef59460bfd6601">CorrespondenceRejectorSurfaceNormal</a> ()</td></tr>
<tr class="memdesc:adf5989a5e720d2223bef59460bfd6601"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. Sets the threshold to 1.0. <br /></td></tr>
<tr class="separator:adf5989a5e720d2223bef59460bfd6601"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa6f81e1db7dc85d679d909064983b047"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa6f81e1db7dc85d679d909064983b047">getRemainingCorrespondences</a> (const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</td></tr>
<tr class="memdesc:aa6f81e1db7dc85d679d909064983b047"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of valid correspondences after rejection from the original set of correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa6f81e1db7dc85d679d909064983b047">更多...</a><br /></td></tr>
<tr class="separator:aa6f81e1db7dc85d679d909064983b047"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8bea625d6a1ceb12de994077f1b37c3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa8bea625d6a1ceb12de994077f1b37c3">setThreshold</a> (double threshold)</td></tr>
<tr class="memdesc:aa8bea625d6a1ceb12de994077f1b37c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the thresholding angle between the normals for correspondence rejection.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa8bea625d6a1ceb12de994077f1b37c3">更多...</a><br /></td></tr>
<tr class="separator:aa8bea625d6a1ceb12de994077f1b37c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33a6484ab08d4a56fb305ea19fdf5817"><td class="memItemLeft" align="right" valign="top"><a id="a33a6484ab08d4a56fb305ea19fdf5817"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a33a6484ab08d4a56fb305ea19fdf5817">getThreshold</a> () const</td></tr>
<tr class="memdesc:a33a6484ab08d4a56fb305ea19fdf5817"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the thresholding angle between the normals for correspondence rejection. <br /></td></tr>
<tr class="separator:a33a6484ab08d4a56fb305ea19fdf5817"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4f8e21e123fbfe5bea76475c7b0091f9"><td class="memTemplParams" colspan="2"><a id="a4f8e21e123fbfe5bea76475c7b0091f9"></a>
template&lt;typename PointT , typename NormalT &gt; </td></tr>
<tr class="memitem:a4f8e21e123fbfe5bea76475c7b0091f9"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a4f8e21e123fbfe5bea76475c7b0091f9">initializeDataContainer</a> ()</td></tr>
<tr class="memdesc:a4f8e21e123fbfe5bea76475c7b0091f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the data container object for the point type and the normal type. <br /></td></tr>
<tr class="separator:a4f8e21e123fbfe5bea76475c7b0091f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb99b8378389e970b56dfbedf6c98588"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:afb99b8378389e970b56dfbedf6c98588"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#afb99b8378389e970b56dfbedf6c98588">setInputCloud</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;input)</td></tr>
<tr class="memdesc:afb99b8378389e970b56dfbedf6c98588"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#afb99b8378389e970b56dfbedf6c98588">更多...</a><br /></td></tr>
<tr class="separator:afb99b8378389e970b56dfbedf6c98588"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a975f9eb2dd474e2f63d3280ce91a2e80"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a975f9eb2dd474e2f63d3280ce91a2e80"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a975f9eb2dd474e2f63d3280ce91a2e80">setInputSource</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;input)</td></tr>
<tr class="memdesc:a975f9eb2dd474e2f63d3280ce91a2e80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a975f9eb2dd474e2f63d3280ce91a2e80">更多...</a><br /></td></tr>
<tr class="separator:a975f9eb2dd474e2f63d3280ce91a2e80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a057f1b233ce510423980f9d4ca0fd0da"><td class="memTemplParams" colspan="2"><a id="a057f1b233ce510423980f9d4ca0fd0da"></a>
template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a057f1b233ce510423980f9d4ca0fd0da"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a057f1b233ce510423980f9d4ca0fd0da">getInputSource</a> () const</td></tr>
<tr class="memdesc:a057f1b233ce510423980f9d4ca0fd0da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the target input point cloud <br /></td></tr>
<tr class="separator:a057f1b233ce510423980f9d4ca0fd0da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a202fa6e9a0aa8ca6956e756e1560b3"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a1a202fa6e9a0aa8ca6956e756e1560b3"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1a202fa6e9a0aa8ca6956e756e1560b3">setInputTarget</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;target)</td></tr>
<tr class="memdesc:a1a202fa6e9a0aa8ca6956e756e1560b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1a202fa6e9a0aa8ca6956e756e1560b3">更多...</a><br /></td></tr>
<tr class="separator:a1a202fa6e9a0aa8ca6956e756e1560b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cf27e5fc6ac45753063ad88e282c4fc"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a5cf27e5fc6ac45753063ad88e282c4fc"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a5cf27e5fc6ac45753063ad88e282c4fc">setSearchMethodTarget</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:a5cf27e5fc6ac45753063ad88e282c4fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a5cf27e5fc6ac45753063ad88e282c4fc">更多...</a><br /></td></tr>
<tr class="separator:a5cf27e5fc6ac45753063ad88e282c4fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a71dc1796590ca8af89260aec1c75a93c"><td class="memTemplParams" colspan="2"><a id="a71dc1796590ca8af89260aec1c75a93c"></a>
template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a71dc1796590ca8af89260aec1c75a93c"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a71dc1796590ca8af89260aec1c75a93c">getInputTarget</a> () const</td></tr>
<tr class="memdesc:a71dc1796590ca8af89260aec1c75a93c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the target input point cloud <br /></td></tr>
<tr class="separator:a71dc1796590ca8af89260aec1c75a93c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2ddaa2275cf40fca336cfd5c2fc2430"><td class="memTemplParams" colspan="2">template&lt;typename PointT , typename NormalT &gt; </td></tr>
<tr class="memitem:aa2ddaa2275cf40fca336cfd5c2fc2430"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa2ddaa2275cf40fca336cfd5c2fc2430">setInputNormals</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::ConstPtr &amp;normals)</td></tr>
<tr class="memdesc:aa2ddaa2275cf40fca336cfd5c2fc2430"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals computed on the input point cloud  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa2ddaa2275cf40fca336cfd5c2fc2430">更多...</a><br /></td></tr>
<tr class="separator:aa2ddaa2275cf40fca336cfd5c2fc2430"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa18f10c877c1c06ec4778eee68fec718"><td class="memTemplParams" colspan="2"><a id="aa18f10c877c1c06ec4778eee68fec718"></a>
template&lt;typename NormalT &gt; </td></tr>
<tr class="memitem:aa18f10c877c1c06ec4778eee68fec718"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::Ptr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa18f10c877c1c06ec4778eee68fec718">getInputNormals</a> () const</td></tr>
<tr class="memdesc:aa18f10c877c1c06ec4778eee68fec718"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normals computed on the input point cloud <br /></td></tr>
<tr class="separator:aa18f10c877c1c06ec4778eee68fec718"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a532c46dd8d78a9541eaf89d896b5c25c"><td class="memTemplParams" colspan="2">template&lt;typename PointT , typename NormalT &gt; </td></tr>
<tr class="memitem:a532c46dd8d78a9541eaf89d896b5c25c"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a532c46dd8d78a9541eaf89d896b5c25c">setTargetNormals</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::ConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a532c46dd8d78a9541eaf89d896b5c25c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals computed on the target point cloud  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a532c46dd8d78a9541eaf89d896b5c25c">更多...</a><br /></td></tr>
<tr class="separator:a532c46dd8d78a9541eaf89d896b5c25c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad408ce03db15940ec87e0b2ea79f341b"><td class="memTemplParams" colspan="2"><a id="ad408ce03db15940ec87e0b2ea79f341b"></a>
template&lt;typename NormalT &gt; </td></tr>
<tr class="memitem:ad408ce03db15940ec87e0b2ea79f341b"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::Ptr&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#ad408ce03db15940ec87e0b2ea79f341b">getTargetNormals</a> () const</td></tr>
<tr class="memdesc:ad408ce03db15940ec87e0b2ea79f341b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the normals computed on the target point cloud <br /></td></tr>
<tr class="separator:ad408ce03db15940ec87e0b2ea79f341b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac0a7a5b05834f974d58a08781cb39019"><td class="memItemLeft" align="right" valign="top"><a id="ac0a7a5b05834f974d58a08781cb39019"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#ac0a7a5b05834f974d58a08781cb39019">requiresSourcePoints</a> () const</td></tr>
<tr class="memdesc:ac0a7a5b05834f974d58a08781cb39019"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source points <br /></td></tr>
<tr class="separator:ac0a7a5b05834f974d58a08781cb39019"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10dfe442b7929e2154423bd376f28b01"><td class="memItemLeft" align="right" valign="top"><a id="a10dfe442b7929e2154423bd376f28b01"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a10dfe442b7929e2154423bd376f28b01">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a10dfe442b7929e2154423bd376f28b01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blob method for setting the source cloud <br /></td></tr>
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<tr class="memitem:a81a1110b3934402476cf0c91acbab099"><td class="memItemLeft" align="right" valign="top"><a id="a81a1110b3934402476cf0c91acbab099"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a81a1110b3934402476cf0c91acbab099">requiresTargetPoints</a> () const</td></tr>
<tr class="memdesc:a81a1110b3934402476cf0c91acbab099"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires a target cloud <br /></td></tr>
<tr class="separator:a81a1110b3934402476cf0c91acbab099"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bcfdaea24efd097f2f2359adb4c2717"><td class="memItemLeft" align="right" valign="top"><a id="a9bcfdaea24efd097f2f2359adb4c2717"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a9bcfdaea24efd097f2f2359adb4c2717">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a9bcfdaea24efd097f2f2359adb4c2717"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method for setting the target cloud <br /></td></tr>
<tr class="separator:a9bcfdaea24efd097f2f2359adb4c2717"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1ca72e49dbe764695dc8e6f5f96af341"><td class="memItemLeft" align="right" valign="top"><a id="a1ca72e49dbe764695dc8e6f5f96af341"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1ca72e49dbe764695dc8e6f5f96af341">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:a1ca72e49dbe764695dc8e6f5f96af341"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
<tr class="separator:a1ca72e49dbe764695dc8e6f5f96af341"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af40d95d82b875f0dc0b1ab0554c8e205"><td class="memItemLeft" align="right" valign="top"><a id="af40d95d82b875f0dc0b1ab0554c8e205"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#af40d95d82b875f0dc0b1ab0554c8e205">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:af40d95d82b875f0dc0b1ab0554c8e205"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blob method for setting the source normals <br /></td></tr>
<tr class="separator:af40d95d82b875f0dc0b1ab0554c8e205"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5dfaac05ebc525c9b87073ef6a73c872"><td class="memItemLeft" align="right" valign="top"><a id="a5dfaac05ebc525c9b87073ef6a73c872"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a5dfaac05ebc525c9b87073ef6a73c872">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:a5dfaac05ebc525c9b87073ef6a73c872"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
<tr class="separator:a5dfaac05ebc525c9b87073ef6a73c872"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec662f4cb3a4571e5c4013ebb44b12d7"><td class="memItemLeft" align="right" valign="top"><a id="aec662f4cb3a4571e5c4013ebb44b12d7"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aec662f4cb3a4571e5c4013ebb44b12d7">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:aec662f4cb3a4571e5c4013ebb44b12d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method for setting the target normals <br /></td></tr>
<tr class="separator:aec662f4cb3a4571e5c4013ebb44b12d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aece0e22dd156eaacff20b45069036483"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a6cbaada1584e194daaad3fd0c2d4aee8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (const CorrespondencesConstPtr &amp;correspondences)</td></tr>
<tr class="memdesc:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">更多...</a><br /></td></tr>
<tr class="separator:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> ()</td></tr>
<tr class="memdesc:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">更多...</a><br /></td></tr>
<tr class="separator:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence rejection  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">更多...</a><br /></td></tr>
<tr class="separator:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via <em>setInputCorrespondences</em>) and the given correspondence vector.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">更多...</a><br /></td></tr>
<tr class="separator:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:a89c8d63b8071d169fe34fe10754b271f"><td class="memItemLeft" align="right" valign="top"><a id="a89c8d63b8071d169fe34fe10754b271f"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DataContainerPtr</b></td></tr>
<tr class="separator:a89c8d63b8071d169fe34fe10754b271f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a4a86b9457d541230deb3428ccaeeaf03"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a4a86b9457d541230deb3428ccaeeaf03">applyRejection</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a4a86b9457d541230deb3428ccaeeaf03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the rejection algorithm.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a4a86b9457d541230deb3428ccaeeaf03">更多...</a><br /></td></tr>
<tr class="separator:a4a86b9457d541230deb3428ccaeeaf03"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a518a024476e8d4b4c0c0eed1107888a6"><td class="memItemLeft" align="right" valign="top"><a id="a518a024476e8d4b4c0c0eed1107888a6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a518a024476e8d4b4c0c0eed1107888a6">threshold_</a></td></tr>
<tr class="memdesc:a518a024476e8d4b4c0c0eed1107888a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">The median distance threshold between two correspondent points in source &lt;-&gt; target. <br /></td></tr>
<tr class="separator:a518a024476e8d4b4c0c0eed1107888a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acea0345f8373e6328491b1246ffe07ac"><td class="memItemLeft" align="right" valign="top"><a id="acea0345f8373e6328491b1246ffe07ac"></a>
DataContainerPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a></td></tr>
<tr class="memdesc:acea0345f8373e6328491b1246ffe07ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the <a class="el" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a> object containing the input and target point clouds <br /></td></tr>
<tr class="separator:acea0345f8373e6328491b1246ffe07ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
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Private 属性</h2></td></tr>
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CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><b><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html">CorrespondenceRejectorSurfaceNormal</a></b> implements a simple correspondence rejection method based on the angle between the normals at correspondent points.</p>
<dl class="section note"><dt>注解</dt><dd>If <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#afb99b8378389e970b56dfbedf6c98588">setInputCloud</a> and <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1a202fa6e9a0aa8ca6956e756e1560b3">setInputTarget</a> are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Aravindhan K Krishnan (original code from libpointmatcher: <a href="https://github.com/ethz-asl/libpointmatcher">https://github.com/ethz-asl/libpointmatcher</a>) </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a4a86b9457d541230deb3428ccaeeaf03">&#9670;&nbsp;</a></span>applyRejection()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::applyRejection </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em></td><td>)</td>
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<p>Apply the rejection algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the set of resultant correspondences. </td></tr>
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  </dd>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector</a>.</p>
<div class="fragment"><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa6f81e1db7dc85d679d909064983b047">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorSurfaceNormal::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_aa6f81e1db7dc85d679d909064983b047"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa6f81e1db7dc85d679d909064983b047">pcl::registration::CorrespondenceRejectorSurfaceNormal::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa6f81e1db7dc85d679d909064983b047">&#9670;&nbsp;</a></span>getRemainingCorrespondences()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::getRemainingCorrespondences </td>
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          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>original_correspondences</em>, </td>
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          <td class="paramname"><em>remaining_correspondences</em>&#160;</td>
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<p>Get a list of valid correspondences after rejection from the original set of correspondences. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">original_correspondences</td><td>the set of initial correspondences given </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">remaining_correspondences</td><td>the resultant filtered set of remaining correspondences </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#afb99b8378389e970b56dfbedf6c98588">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>input</em></td><td>)</td>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">input</td><td>a cloud containing XYZ data </td></tr>
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<div class="fragment"><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a975f9eb2dd474e2f63d3280ce91a2e80">setInputSource</a> (input);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a975f9eb2dd474e2f63d3280ce91a2e80"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a975f9eb2dd474e2f63d3280ce91a2e80">pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource</a></div><div class="ttdeci">void setInputSource(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;input)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejectorSurfaceNormal::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_acea0345f8373e6328491b1246ffe07ac"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">pcl::registration::CorrespondenceRejectorSurfaceNormal::data_container_</a></div><div class="ttdeci">DataContainerPtr data_container_</div><div class="ttdoc">A pointer to the DataContainer object containing the input and target point clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:318</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa2ddaa2275cf40fca336cfd5c2fc2430">&#9670;&nbsp;</a></span>setInputNormals()</h2>

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template&lt;typename PointT , typename NormalT &gt; </div>
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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
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<p>Set the normals computed on the input point cloud </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the normals computed for the input cloud </td></tr>
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<div class="fragment"><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setInputNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT, NormalT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa2ddaa2275cf40fca336cfd5c2fc2430">setInputNormals</a> (normals);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_aa2ddaa2275cf40fca336cfd5c2fc2430"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa2ddaa2275cf40fca336cfd5c2fc2430">pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const typename pcl::PointCloud&lt; NormalT &gt;::ConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the input point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:189</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a975f9eb2dd474e2f63d3280ce91a2e80">&#9670;&nbsp;</a></span>setInputSource()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputSource </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>input</em></td><td>)</td>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">input</td><td>a cloud containing XYZ data </td></tr>
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  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] Initialize the data container object by calling intializeDataContainer () before using this function.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a975f9eb2dd474e2f63d3280ce91a2e80">setInputSource</a> (input);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1a202fa6e9a0aa8ca6956e756e1560b3">&#9670;&nbsp;</a></span>setInputTarget()</h2>

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          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>target</em></td><td>)</td>
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<p>Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">target</td><td>a cloud containing XYZ data </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setInputTarget] Initialize the data container object by calling intializeDataContainer () before using this function.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1a202fa6e9a0aa8ca6956e756e1560b3">setInputTarget</a> (target);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a1a202fa6e9a0aa8ca6956e756e1560b3"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a1a202fa6e9a0aa8ca6956e756e1560b3">pcl::registration::CorrespondenceRejectorSurfaceNormal::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;target)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:148</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5cf27e5fc6ac45753063ad88e282c4fc">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setSearchMethodTarget </td>
          <td>(</td>
          <td class="paramtype">const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
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<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
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<div class="fragment"><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        { </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          boost::static_pointer_cast&lt; DataContainer&lt;PointT&gt; &gt; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a5cf27e5fc6ac45753063ad88e282c4fc">setSearchMethodTarget</a> (tree, force_no_recompute );</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a5cf27e5fc6ac45753063ad88e282c4fc"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a5cf27e5fc6ac45753063ad88e282c4fc">pcl::registration::CorrespondenceRejectorSurfaceNormal::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const boost::shared_ptr&lt; pcl::search::KdTree&lt; PointT &gt; &gt; &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:166</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a532c46dd8d78a9541eaf89d896b5c25c">&#9670;&nbsp;</a></span>setTargetNormals()</h2>

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template&lt;typename PointT , typename NormalT &gt; </div>
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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals </td>
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          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
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<p>Set the normals computed on the target point cloud </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the normals computed for the input cloud </td></tr>
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<div class="fragment"><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            PCL_ERROR (<span class="stringliteral">&quot;[pcl::registration::%s::setTargetNormals] Initialize the data container object by calling intializeDataContainer () before using this function.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT, NormalT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#acea0345f8373e6328491b1246ffe07ac">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a532c46dd8d78a9541eaf89d896b5c25c">setTargetNormals</a> (normals);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a532c46dd8d78a9541eaf89d896b5c25c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a532c46dd8d78a9541eaf89d896b5c25c">pcl::registration::CorrespondenceRejectorSurfaceNormal::setTargetNormals</a></div><div class="ttdeci">void setTargetNormals(const typename pcl::PointCloud&lt; NormalT &gt;::ConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:215</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8bea625d6a1ceb12de994077f1b37c3">&#9670;&nbsp;</a></span>setThreshold()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorSurfaceNormal::setThreshold </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
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<p>Set the thresholding angle between the normals for correspondence rejection. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>cosine of the thresholding angle between the normals for rejection </td></tr>
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<div class="fragment"><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a518a024476e8d4b4c0c0eed1107888a6">threshold_</a> = threshold; };</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_surface_normal_html_a518a024476e8d4b4c0c0eed1107888a6"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_surface_normal.html#a518a024476e8d4b4c0c0eed1107888a6">pcl::registration::CorrespondenceRejectorSurfaceNormal::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">The median distance threshold between two correspondent points in source &lt;-&gt; target.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_surface_normal.h:314</div></div>
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